Modeling and computed torque control of a 6 degree of freedom robotic arm
Modeling and computed torque control of a 6 degree of freedom robotic arm
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DOI：
10.1109/icreate.2014.6828353
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发表时间：
2014-04
期刊：
影响因子：
--
通讯作者：
Muhammad Imran Ullah;S. A. Ajwad;Raza Ul Islam;Usarna Iqbal;J. Iqbal
中科院分区：
文献类型：
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作者：
Muhammad Imran Ullah;S. A. Ajwad;Raza Ul Islam;Usarna Iqbal;J. Iqbal
本文介绍了具有5个转动关节、6个自由度的垂直铰接串联臂--艾德7220 C的建模和控制设计。建立了正、逆运动学模型。为便于力的分析和控制器的设计，系统动力学已制定。提出了一种非线性控制技术--计算转矩控制（CTC）。该算法，在MATLAB/Simulink中实现，利用派生的动态以及线性控制技术。仿真结果清楚地证明了所提出的方法在轨迹跟踪方面的有效性。已经记录了臂关节的各种响应来表征控制算法的性能。研究发现其应用在先进的非线性和鲁棒控制技术的仿真以及在物理平台上的实现。
This paper presents modelling and control design of ED 7220C - a vertical articulated serial arm having 5 revolute joints with 6 Degree Of Freedom. Both the direct and inverse kinematic models have been developed. For analysis of forces and to facilitate the controller design, svstem dynamics have been formulated. A non-linear control technique, Computed Torque Control (CTC) has been presented. The algorithm, implemented in MATLAB/Simulink, utilizes the derived dynamics as well as linear control techniques. Simulation results dearly demonstrate the efficacy of the presented approach in terms of traiectory tracking Various responses of the arm joints have been recorded to characterize the performance of the control algorithm. The research finds its applications in simulation of advance nonlinear and robust control techniques as well as their implementation on the physical platform.